輪型機器人之避障系統設計與研究

The Design and Research of an Elusive Obstruction System for a Wheeled Mobile Robot

馮添福(Tien-Fu Feng)

指導教授 ： 王仲淳

元智大學/電機通訊學院/電機工程學系/碩士(2008年)

https://doi.org/10.6838/YZU.2008.00066

摘要

近年來，機器人的研究蓬勃發展，而與其相對應的，避障系統研究，也在積極地成長茁壯中。本篇論文的內容，主要是在研究避障系統，但因應各類型機器人，各家系統設計也不盡相同。本篇論文主要是在探討，如何使輪型機器人，遇至障礙物時，不但可以避障且能行走的順暢，而且還能夠迅速地抵達目的地。
本論文研究之前許多發表過論文中的理論，作為設計的基礎。試著以不同的推導，來提出符合本論文設計之避障系統。在本篇論文中，主要是使用超音波感測器，作為環境的偵測。演算法則以所學的模糊理論，來作為本論文的控制理論。在利用Matlab推算所需的模糊理論是否正確？利用推導出的數值，放入系統裡，並以C語言實現。在經過不斷的數值修正與模擬測試，然後在個人電腦上模擬出避障環境，用來驗證及改善避障系統，最後再將系統放入實物上，利用現實的環境，驗證模擬的數值作進一步的修正，來實踐出符合要求的避障系統。
因各個控制理論研究的領域不同，所發展出的系統與參數也不盡相同。更待後進者日後鑽研其餘的研究，使其更能趨近完善。最終目的是，希望經由此次的研究成果，我們可以將其運用至無人搬運車、導覽機器人…等等地方。

關鍵字

輪型機器人 ； 避障系統 ； 導覽機器人

並列摘要

There have been many theses on robot research recently, and on studying elusive obstruction as well. The content of this thesis is mainly releated to robot elusive obstruction system, since there are so many different types of robots using different elusive obstruction system. This thesis focuses on how to design elusive obstruction system, which enalbes a wheeled robot to reach its goal – no matter what are there in the way.

Based on the previous theses, a different and unique design is introduced and developed in this thesis. For the experiment work, we have an estimated fuzzy base and software, which are tested on a robot system. Then, the software system is Embbeded in robots for computer-testing again. Finally this embedded system was applied on robots for practical use and thoroughly tested.

This system and parameters are different from others, because of different designing method. Further study and theorical analysis are required to obtain better improvement and better performance. This system can be applied on machines, such as machine-controlled vans and navigation robots.

並列關鍵字

Wheeled Mobile Robot ； Elusive system ； Navigation robot

參考文獻

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